Dual-Arm Robot Height Alignment Mechanism
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Solution Overview
Problem
Conventional dual-arm robots face challenges in matching the height positions of their end effector attaching portions, leading to differences in end effector structures, which complicates maintenance, customization, and increases part varieties and costs.
Innovation Solution
The dual-arm robot design aligns the height positions of the end effector attaching portions of both arms, allowing for the use of end effectors with the same structure, reducing complexity and part variety through a synchronized power transmission mechanism and adjustable link positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the base parts of the two robotic arms are disposed on the same axis, then the robotic arms can be compactly arranged, but the height positions of the first links and tip end portions cannot be matched, leading to different end effector structures
Solution Approach 1:
The patent introduces adjustable mechanisms (first and second adjustment mechanisms) that enable dynamic adjustment of the first link and second link positions independently. This allows the system to adapt the height positions dynamically to achieve matching between the two robotic arms, resolving the contradiction between compact base arrangement and end effector structure uniformity.
Solution Approach 2:
The patent changes the positional parameters of the links by introducing adjustment mechanisms that can modify the height positions of the first link and second link. By adjusting these parameters, the system achieves matching height positions for the end effector attaching portions while maintaining the compact base arrangement on the same axis.
2Manufacturing precision
If different length cylinders are provided in the end effectors to match descending limits, then the height positions can be aligned, but the end effector structures become different and maintenance becomes complex
Solution Approach 1:
Instead of using different length cylinders, the patent changes the approach by introducing adjustment mechanisms that modify the link positions. This allows height position alignment to be achieved through adjustable link lengths rather than fixed different cylinder lengths, enabling uniform end effector structures that are easier to maintain and replace.
Solution Approach 2:
The patent creates universal end effector structures by making the robotic arms' height positions adjustable rather than fixed. This allows the same end effector design to be used on both robotic arms, improving universality and ease of repair while still achieving the required height alignment through the adjustment mechanisms.
3Adaptability or versatility
If customizing end effectors according to user requests is performed, then specific functional requirements can be met, but the increase in part varieties and design complexity occurs
Solution Approach 1:
The patent enables customization through parameter adjustment rather than design modification. By providing adjustable mechanisms that can change the height positions and configurations, the system allows users to customize the robotic arms' performance parameters while maintaining the same physical end effector structure, thus avoiding the increase in part variety and design complexity.
Data Source
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AI summary
A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.